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	        <center><img src="data/pics/instrument.png"  name="Tooth" align="middle">

		<h3>Constraint resolution</h3></center>

		<div id="orangeText">Description:</div>
		<p align="left">
			The aim of this tutorial is to add the constraint response in our scene. 
			When a contact between two objects occurs, a constraint is created to generate a force to avoid the contact at the next time step.
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		<div id="orangeText">Key points:</div>
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			<li><p align="left">In the root node, we add a <b>FreeMotionAnimationLoop</bi> solver which gets the constraints from the objects, computes the LCP and propagates the contact correction.</p></li>
			<li><p align="left">In the instrument node, we add <b>UncoupledConstraintCorrection</b> to compute the constraints of the related object</p></li>
		</ul>

		<br><center><h3><a href="dentalSurgery_06.scn">Next</a></center></h3>

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